I would be more inclined to think lurching is more related to transmission or engine. Engine mounts, gearbox mounts, rear diff mounts, propshaft middle bearing mount. Or gearbox/ torque converter itself. Curved bottom suspension arms can also affect if the bush is worn but then you also likely to get vibration when braking.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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